version: 66.02
glider: 103
mission: 7
dive: 184
start: 12 16 107 18 21 23
data:
$ID,103
$MISSION,7
$DIVE,184
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-65732.531
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,181526,6300.432,-1241.440,40,1.8,40,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-50.5
$GPS2,182016,6300.481,-1241.368,15,1.8,16,-11.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.073
$KALMAN_X,-217134.8,1255.9,588.9,-2512.3,-2055.1
$KALMAN_Y,-84248.7,661.7,-279.7,244028.9,919.3
$MHEAD_RNG_PITCHd_Wd,262.3,11496,-11.1,-6.000
$D_GRID,554
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-71.75,0.000,6,0.000,0.000,49,2900,3501
$GC,96,-1.10,-146.6,1.9,-4.4,3,112,11.95,1.73,0.00,0.000,4,0.160,0.084,2164,3786,3502
$GC,117,-1.10,-146.6,14.1,-34.3,3,121,0.00,1.55,0.00,0.000,6,0.000,0.042,2164,2906,3503
$GC,444,-1.10,-146.6,38.7,-5.5,19,448,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1483,3503
$GC,672,-1.10,-146.6,58.5,-7.0,29,677,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2905,3503
$GC,994,-1.10,-146.6,81.7,-6.7,45,999,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1484,3503
$GC,1038,-1.10,-146.6,84.6,-6.6,47,1042,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,1365,-1.10,-146.6,110.8,-8.3,63,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,1674,-1.10,-146.6,133.8,-7.5,78,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,1983,-1.10,-146.6,159.7,-9.3,93,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2292,-1.10,-146.6,184.6,-7.3,108,2297,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1489,3503
$GC,2319,-1.10,-146.6,186.5,-7.2,109,2323,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2900,3503
$GC,2640,-1.10,-146.6,209.1,-6.9,125,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2949,-1.10,-146.6,229.4,-6.6,140,2953,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1489,3503
$GC,2998,-1.10,-146.6,232.8,-7.0,142,3003,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3503
$GC,3320,-1.10,-146.6,254.5,-7.0,158,3324,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1487,3503
$GC,3351,-1.10,-146.6,256.8,-7.9,159,3358,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3503
$GC,3667,-1.10,-146.6,278.9,-7.0,175,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3976,-1.10,-146.6,301.7,-7.4,190,3980,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1485,3503
$GC,4002,-1.10,-146.6,303.7,-7.3,191,4006,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,4323,-1.10,-146.6,328.7,-7.8,207,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4633,-1.10,-146.6,350.4,-6.8,222,4638,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1481,3503
$GC,4695,-1.10,-146.6,355.0,-6.9,225,4699,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2902,3503
$GC,5021,-1.10,-146.6,377.1,-6.3,241,5025,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1482,3503
$GC,5053,-1.10,-146.6,379.0,-5.6,242,5059,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2899,3503
$GC,5368,-1.10,-146.6,399.2,-6.3,258,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,5677,-1.10,-146.6,419.3,-7.5,273,5681,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3785,3503
$GC,5790,-1.10,-146.6,428.5,-8.8,278,5793,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2892,3503
$GC,6121,-1.10,-146.6,454.8,-7.5,294,6125,0.00,2.50,0.00,0.000,4,0.000,0.059,2164,1497,3503
$GC,6153,-1.10,-146.6,457.4,-8.3,295,6160,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2913,3503
$GC,6469,-1.10,-146.6,478.8,-6.4,311,6473,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1494,3503
$GC,6591,-1.10,-146.6,487.3,-7.3,316,6597,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2901,3503
$GC,6906,-1.10,-146.6,508.9,-6.4,332,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,7215,-1.10,-146.6,530.2,-6.6,347,7219,0.00,1.67,0.00,0.000,4,0.000,0.082,2164,3782,3503
$GC,7321,-1.10,-146.6,537.5,-7.7,351,7327,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2893,3503
$STATE,7490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7490,begin apogee
$GC,7497,-0.42,0.0,548.8,6.2,360,7623,0.75,0.00,122.72,1.162,6,0.084,0.000,2317,2104,2901
$STATE,7623,end apogee,CONTROL_FINISHED_OK
$STATE,7624,begin climb
$GC,7625,1.10,146.6,552.2,0.0,366,7753,1.55,2.70,119.60,1.127,4,0.060,0.065,2647,3518,2303
$GC,7776,1.14,173.2,548.3,5.3,373,7809,0.00,2.53,23.45,1.069,6,0.000,0.038,2647,2093,2194
$GC,8117,1.14,173.2,526.8,6.1,390,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2091,2193
$GC,8427,1.17,199.2,508.5,5.3,405,8457,0.00,2.78,22.52,1.105,4,0.000,0.067,2647,3518,2088
$GC,8582,1.19,214.8,499.2,5.6,412,8604,0.00,2.50,14.05,1.067,6,0.000,0.040,2647,2102,2025
$GC,8912,1.19,214.8,475.8,7.4,428,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2102,2023
$GC,9221,1.19,214.8,455.4,6.7,443,9226,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3519,2022
$GC,9260,1.19,214.8,452.8,6.7,445,9265,0.00,2.50,0.00,0.000,6,0.000,0.040,2647,2097,2022
$GC,9586,1.19,214.8,431.8,6.1,461,9590,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3513,2021
$GC,9670,1.22,240.6,427.1,5.3,465,9699,0.12,2.50,21.75,1.055,6,0.044,0.040,2686,2092,1919
$GC,10021,1.22,240.6,403.0,7.0,482,10025,0.00,2.67,0.00,0.000,4,0.000,0.072,2686,3514,1919
$GC,10069,1.22,240.6,399.2,7.5,484,10073,0.00,2.50,0.00,0.000,6,0.000,0.044,2686,2099,1919
$GC,10390,1.22,240.6,376.4,7.2,500,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1919
$GC,10699,1.22,240.6,352.2,8.1,515,10704,0.00,2.67,0.00,0.000,4,0.000,0.074,2686,3517,1919
$GC,10726,1.22,240.6,349.7,9.8,516,10730,0.00,2.53,0.00,0.000,6,0.000,0.045,2686,2094,1919
$GC,11047,1.22,240.6,320.4,9.1,532,11051,0.00,2.65,0.00,0.000,4,0.000,0.073,2686,3516,1920
$GC,11085,1.22,240.6,317.0,9.3,534,11089,0.00,2.50,0.00,0.000,6,0.000,0.047,2686,2100,1920
$GC,11417,1.22,240.6,289.2,7.9,550,11421,0.00,2.65,0.00,0.000,4,0.000,0.072,2686,3514,1920
$GC,11443,1.22,240.6,286.8,8.8,551,11447,0.00,2.53,0.00,0.000,6,0.000,0.045,2686,2107,1920
$GC,11764,1.22,240.6,260.3,8.1,567,11765,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2108,1920
$GC,12073,1.22,240.6,233.4,8.9,582,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2108,1920
$GC,12382,1.22,240.6,207.1,8.1,597,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2107,1921
$GC,12692,1.22,240.6,183.7,7.6,612,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2108,1921
$GC,13001,1.22,240.6,159.5,7.8,627,13006,0.00,2.62,0.00,0.000,4,0.000,0.071,2686,3514,1922
$GC,13062,1.22,240.6,153.8,9.2,630,13067,0.00,2.50,0.00,0.000,6,0.000,0.047,2686,2100,1921
$GC,13389,1.22,240.6,126.2,8.1,646,13393,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3515,1921
$GC,13415,1.22,240.6,123.6,9.1,647,13419,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2093,1922
$GC,13737,1.22,240.6,97.7,8.9,663,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1922
$GC,14046,1.22,240.6,70.0,7.9,678,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2092,1922
$GC,14355,1.22,240.6,44.2,8.7,693,14359,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3514,1922
$GC,14398,1.22,240.6,41.4,6.1,695,14403,0.00,2.55,0.00,0.000,6,0.000,0.049,2686,2096,1922
$GC,14725,1.22,240.6,11.3,10.1,711,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2095,1923
$STATE,14826,end climb,SURFACE_DEPTH_REACHED
$STATE,14826,begin surface coast
$FINISH,0.4,1.027333
$STATE,14848,end surface coast,CONTROL_FINISHED_OK
$STATE,14848,begin surface
$SM_CCo,14869,49.42,0.732,1,0,1678,300.00
$SM_GC,-0.03,0.00,0.00,49.42,0.000,0.000,0.732,45,2901,1678,-10.88,0.03,300.00
$IRIDIUM_FIX,6235.17,-1238.40,161207,181849
$TT8_MAMPS,0.029146
$HUMID,2068
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.2,107.2
$24V_AH,23.5,33.105
$10V_AH,10.1,16.179
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.900,121.575,324.100,49.425,0.000,32.779,45.052,119.363,4.000,0.000,0.000,16.230,1315.624,11460.532,495.794,1584.339,380.606,33.379,1301.205,0.000,1559.159,0.000,25.082
$DEVICE_MAMPS,159.536,84.370,1162.005,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.268,500.019,479.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37915,717
$CFSIZE,260165632,247820288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,161207,223108,6259.928,-1245.527,26,1.7,26,-11.9